Low-cost MEMS can experience large positioning errors in very short time due to its own limitations.To overcome the shortcome

modern information fusion technology is developed to increase the attitude measuring precision.The magnetic field and gravity field are used as attitude reference vectors.Extended Kalman Filter（EKF）is introduced to integrated attitude data from different sources.The attitude measuring system is constructed based on MIMU and magnetometer.The simulations and experimental results indicate that the static error of three attitude angles is less than 0.35°

while the dynamic heading error is less than 3°.The measuring system can effectively improve the system precision and stability.